EP0853031A2 - Régulation de voie de véhicule - Google Patents

Régulation de voie de véhicule Download PDF

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Publication number
EP0853031A2
EP0853031A2 EP98300124A EP98300124A EP0853031A2 EP 0853031 A2 EP0853031 A2 EP 0853031A2 EP 98300124 A EP98300124 A EP 98300124A EP 98300124 A EP98300124 A EP 98300124A EP 0853031 A2 EP0853031 A2 EP 0853031A2
Authority
EP
European Patent Office
Prior art keywords
steering
vehicle
reaction force
reference position
lane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP98300124A
Other languages
German (de)
English (en)
Other versions
EP0853031A3 (fr
EP0853031B1 (fr
Inventor
Yutaka Hiwatashi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Subaru Corp
Original Assignee
Fuji Jukogyo KK
Fuji Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fuji Jukogyo KK, Fuji Heavy Industries Ltd filed Critical Fuji Jukogyo KK
Publication of EP0853031A2 publication Critical patent/EP0853031A2/fr
Publication of EP0853031A3 publication Critical patent/EP0853031A3/fr
Application granted granted Critical
Publication of EP0853031B1 publication Critical patent/EP0853031B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/08—Lane monitoring; Lane Keeping Systems
    • B60T2201/087—Lane monitoring; Lane Keeping Systems using active steering actuation

Definitions

  • the present invention relates to a lane moving-out prevention system and method in which a vehicle is prevented from moving out of a lane by controlling assist force of a power steering mechanism.
  • ADA Active Drive Assist
  • this ADA system is constituted such that the assist force of the power steering is generated after a deviation of the vehicle from the lane marker is detected and based on the deviation a function generator called “stable running potential energy" determines the amount of the assist force of the power steering, the follow-up characteristic of the system is insufficient, especially when a driver turns the steering wheel sharply. Further, since the ADA system includes a sophisticated four wheel steering apparatus, the manufacturing cost becomes high.
  • the above object can be achieved by providing the system comprising: (a) monitoring means for recognizing a lane traced by a vehicle,(b) reference position establishing means for establishing a reference position of the lane, (c) steering speed detecting means for detecting a steering speed, (d) distance detecting means for detecting a distance from the vehicle to the reference position, (e) departing speed detecting means for detecting a departing speed from the reference position, (f) returning speed detecting means for detecting a returning speed to the reference position, and (g) control means for controlling a steering reaction force of the power steering mechanism based on the steering speed of the steering wheel when the vehicle is apart from the reference position by more than a specified value.
  • numeral 1 denotes a vehicle and numeral la denotes a lane moving-out prevention system installed on the vehicle 1.
  • the lane moving-out prevention system la is a system for preventing the vehicle 1 from moving out of a lane by increasing a steering reaction force of a power steering mechanism 2 when the vehicle comes close to the lane marker.
  • the lane moving-out prevention system la has a pair of CCD cameras 3a, 3b disposed one for each on the left and right sides of the vehicle 1.
  • the CCD cameras are for recognizing the lane which the vehicle 1 traces.
  • the CCD cameras 3a, 3b are connected with an image processor 4 in which three-dimensional distance distributions are calculated over an entire image according to the principle of triangulation.
  • the image processor 4 is constituted by a distance detecting circuit 4a for searching a portion imaging an identical object from two stereoscopic images, for calculating a distance to the object and for outputting distance distributions data in the form of the image picture and a distance image memory 4b for memorizing the distance distributions data.
  • the image processor 4 is connected with a computer unit 5 for processing the distance distributions data and for recognizing the configuration of a road or a plurality of solid objects. Further, the computer unit 5 is connected with a computer unit 6 for controlling the power steering mechanism 2.
  • the computer unit 5 for processing images receives signals from a vehicle speed sensor 7 and a steering angle sensor 8, respectively and the computer unit 6 for controlling power steering (hereinafter, referred to as power steering control computer unit) receives signals from a vehicle speed sensor 7 and a steering angle sensor 8, respectively. Further, in addition to these signals, the power steering control computer unit 6 receives a signal of engine speed calculated in an engine control computer unit (not shown).
  • the power steering mechanism 2 is a known power steering which is constituted such that a steering input of a steering wheel 9 is transmitted to a gear box12 through a steering shaft of a steering column 10 and a control valve 11 and hydraulic pressure of a power cylinder 13 generates a steering assist force.
  • the hydraulic pressure fed to the power cylinder 13 is controlled by the control valve 11.
  • the control valve 11 according to the present invention includes a reaction force mechanism therein for generating a steering reaction force, i.e., a force to resist the movement of the steering wheel 9.
  • control valve 11 is a direct operated solenoid valve in which an oil supply to the reaction force mechanism is controlled by a spool valve connected to an electromagnetic plunger of a linear solenoid.
  • the steering reaction force is controlled by adjusting solenoid drive current passing through the linear solenoid.
  • the solenoid drive current is controlled by the computer unit 6 as will be described hereinafter.
  • a lane marker on a road is extracted using three-dimensional information formed by distance images stored in the distance image memory 4b and the configurations of a road and a lane on which the vehicle runs are recognized by correcting and changing build-in road model parameters so as to agree with an actual road configuration.
  • the configuration of the lane is recognized as left and right lane markers. Further, when these lane markers are recognized, the position of the vehicle with respect to the lane markers, that is, the distance between the left and right lane markers and the distance between the vehicle and either of the left and right lane markers are calculated, respectively.
  • the lane moving-out prevention system 1a in addition to a known technique of controlling the steering reaction force based on vehicle speed and engine speed, the lane moving-out prevention system 1a according to the present invention has a function that when there is a possibility of moving out of a lane, the steering reaction force is controlled also by steering angular velocity.
  • a correction value for correcting the steering reaction force is established based on the angular velocity of steering angle which is obtained by differentiating the steering angle detected in the steering angle sensor 8 and the steering reaction force is increased by correcting a normal steering reaction force with that correction value so as to restrict a steering operation directing the vehicle towards outside of the lane.
  • the judgment of a possibility of a lane moving-out may be performed by the image processing computer unit 5.
  • Fig. 2 shows a main routine executed in the power steering control computer unit 6.
  • S100 hereinafter referred to as S number
  • S200 it is judged whether or not the steering wheel is turned.
  • the program returns to S100 and if it is judged that the steering wheel is turned, the program goes from S200 to S300 where a steering reaction force control routine shown in Fig. 3 is carried out and then the program leaves the routine.
  • a risky condition i.e., a condition that the vehicle is coming close to the left or right lane marker. For example, when the position of the vehicle is within a predetermined range with respect to a reference position which is calculated from the distance between the left and right lane markers, it is judged that the vehicle is not in the risky condition and the program is diverted to S302 where the reaction force is established to be a normal value which is dependent only upon vehicle speed and engine speed. Normally, the above reference position is established so as to be a center of the distance between the left and right lane markers. After that, the program goes to S309 wherein the solenoid drive current of the control valve 11 is so controlled as to generate a normal reaction force and then the program leaves the routine.
  • a risky condition i.e., a condition that the vehicle is coming close to the left or right lane marker.
  • whether the steering direction is departing from or is returning to the reference position is checked by investigating how the steering wheel has been turned with respect to an object lane marker which is closer to the vehicle, i.e., investigating whether the steering wheel has been turned in the direction of the object lane marker or in the opposite direction of the object lane marker.
  • the program goes from S303 to S304 where a correction coefficient "a" is set to be 1 and when the steering wheel is operated in the opposite direction of the object lane marker, i.e., in the direction of departing from the object lane marker, the program steps to S305 where the correction coefficient "a" is set to be -1.
  • the program goes to S306 where a gain "K” is obtained by referring to a map parameterizing a steering angular velocity ⁇ which is obtained by differentiating the steering angle detected in the steering angle sensor and then at S307 a correction reaction force is obtained by multiplying the gain "K” by the correction coefficient "a".
  • the differential of the steering angle is provided by passing a signal of the steering angle sensor through a CR circuit like a high-pass filter of first order or by performing a digital filtering process (obtaining differences of steering angle per each sampling time ⁇ t).
  • the program goes to S308 where a steering reaction force is obtained by adding the correction reaction force to the normal reaction force. Then, at S309 the solenoid drive current of the control valve 11 is controlled so as to generate this steering reaction force and the program leaves the routine.
  • the gain "K” of the correction reaction force is obtained from referring to a map parameterizing the steering angular velocity ⁇ . Examples of the map is shown in Fig. 4a through Fig. 4d.
  • Fig. 4a is an example wherein a gain K1 increases linearly form zero to a high limit in proportional to the steering angular velocity ⁇ .
  • the correction coefficient "a" is set to be 1 and the steering reaction force increases due to a positive correction reaction force added so as to call a driver's attention.
  • the correction coefficient "a” is set to be -1 and the steering reaction force decreases due to a negative correction reaction force added so as to facilitate to return the vehicle towards the reference position with a small steering force.
  • the gain K of the correction reaction force may varied nonlinearly like K2 in an example of Fig. 4c.
  • a dead zone in which no gain is generated with respect to the steering angular velocity ⁇ may be provided so as to produce no additional steering reaction force when the vehicle is making a normal turn.
  • the gain K may be established as a second gain according to a speed of the vehicle going away from the reference position (in this embodiment, replaced with an access speed to the object lane marker) or a speed of the vehicle coming close to the reference position (in this embodiment, replaced with a leaving speed from the object lane marker).
  • the speed of the vehicle going away or coming close is calculated by differentiating the distance between the vehicle and the object lane marker.
  • the gain K may be established in accordance with a distance from the reference position to the vehicle (in this embodiment, replaced with a distance between the object lane marker and the vehicle).
  • the second gain K3 is established so as to increase linearly with an increase of access speed to the object lane marker.
  • the second gain K3 may be established so as to vary nonlinearly with respect to the access speed to the object lane marker. According to thus established gain, when the access speed to the object lane marker is small, the gain is established to be small and when the access speed is large, the gain is established to be large.
  • the third gain K4 is established such that it becomes high as the distance between the object lane marker and the vehicle is smaller and it becomes low as the distance is larger.
  • the correction reaction force is calculated as follows: a x K1 (a x K2), a x K1 x K3 (a x K2 x K3) and, a x K1 x K3 x K4 (a x K2 x K3 x K4).
  • the steering reaction force is controlled based on the steering angular velocity ⁇ , such a risky condition that the vehicle is moving out of the lane by a sharp steering operation can be prevented by applying an additional reaction force to the power steering mechanism.
  • the vehicle turns at a normal speed of the steering operation, since no additional reaction force is applied, a driver's steering effort is retained to be light.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
EP98300124A 1997-01-09 1998-01-08 Régulation de voie de véhicule Expired - Lifetime EP0853031B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP00230197A JP3983324B2 (ja) 1997-01-09 1997-01-09 車両の走行レーン逸脱防止装置
JP2301/97 1997-01-09
JP230197 1997-01-09

Publications (3)

Publication Number Publication Date
EP0853031A2 true EP0853031A2 (fr) 1998-07-15
EP0853031A3 EP0853031A3 (fr) 2001-01-10
EP0853031B1 EP0853031B1 (fr) 2003-08-27

Family

ID=11525551

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98300124A Expired - Lifetime EP0853031B1 (fr) 1997-01-09 1998-01-08 Régulation de voie de véhicule

Country Status (4)

Country Link
US (1) US6009377A (fr)
EP (1) EP0853031B1 (fr)
JP (1) JP3983324B2 (fr)
DE (1) DE69817410T2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1602542A1 (fr) * 2004-06-02 2005-12-07 Nissan Motor Co., Ltd. Procédé et dispositif adaptatives pour éstimer l'intention de l'opérateur d'un véhicule automobile
WO2009000619A1 (fr) 2007-06-28 2008-12-31 Robert Bosch Gmbh Procédé pour corriger automatiquement une valeur d'état d'un véhicule

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JP3986683B2 (ja) * 1998-08-25 2007-10-03 本田技研工業株式会社 車両の走行安全装置
US6226592B1 (en) * 1999-03-22 2001-05-01 Veridian Erim International, Inc. Method and apparatus for prompting a motor vehicle operator to remain within a lane
JP2000318622A (ja) * 1999-05-12 2000-11-21 Nissan Motor Co Ltd レーンキープ装置
JP4007723B2 (ja) * 1999-06-16 2007-11-14 本田技研工業株式会社 車両の走行安全装置
US7366595B1 (en) * 1999-06-25 2008-04-29 Seiko Epson Corporation Vehicle drive assist system
JP3575343B2 (ja) * 1999-08-02 2004-10-13 日産自動車株式会社 車線追従装置
JP2003150261A (ja) * 2001-11-15 2003-05-23 Alps Electric Co Ltd ダンパー力付与操作制御装置
EP1502246B1 (fr) * 2002-04-30 2006-08-02 Robert Bosch Gmbh Procede et dispositif de reaction ou d'information du conducteur dans le cas ou le vehicule quitte la voie
AU2003225228A1 (en) * 2002-05-03 2003-11-17 Donnelly Corporation Object detection system for vehicle
JP4374211B2 (ja) * 2002-08-27 2009-12-02 クラリオン株式会社 レーンマーカー位置検出方法及びレーンマーカー位置検出装置並びに車線逸脱警報装置
JP3941640B2 (ja) 2002-09-18 2007-07-04 日産自動車株式会社 車両用運転操作補助装置、車両用運転操作補助方法、およびその方法を適用した車両
JP3882797B2 (ja) 2003-08-08 2007-02-21 日産自動車株式会社 車両用運転操作補助装置および車両用運転操作補助装置を備える車両
US7720580B2 (en) 2004-12-23 2010-05-18 Donnelly Corporation Object detection system for vehicle
DE102005003177B4 (de) * 2005-01-19 2022-02-03 Volkswagen Ag Vorrichtung und Verfahren zur Verhinderung von Abkommenunfällen von Fahrzeugen
DE102005052034A1 (de) * 2005-10-31 2007-05-03 Robert Bosch Gmbh LKS-System mit modifizierter Regelcharakteristik bei Kurvenfahrt
JP2007168674A (ja) * 2005-12-23 2007-07-05 Hitachi Ltd パワーステアリング装置およびその制御方法
JP4747963B2 (ja) * 2006-06-21 2011-08-17 トヨタ自動車株式会社 車両用運転支援装置
JP5272430B2 (ja) * 2008-02-15 2013-08-28 株式会社豊田中央研究所 操舵制御装置
JP4658155B2 (ja) * 2008-03-17 2011-03-23 株式会社日立製作所 自律移動ロボット装置及び自律移動ロボット装置の回避方法
US8099205B2 (en) * 2008-07-08 2012-01-17 Caterpillar Inc. Machine guidance system
JP5504589B2 (ja) * 2008-07-30 2014-05-28 日産自動車株式会社 車両用操舵制御装置及び車両用操舵制御方法
JP5365084B2 (ja) * 2008-07-30 2013-12-11 日産自動車株式会社 車両用操舵制御装置及び車両用操舵制御方法
DE102009050368A1 (de) 2008-10-24 2010-05-27 Magna Electronics Europe Gmbh & Co.Kg Verfahren zum automatischen Kalibrieren einer virtuellen Kamera
US8964032B2 (en) 2009-01-30 2015-02-24 Magna Electronics Inc. Rear illumination system
DE102010007262B4 (de) * 2010-02-09 2023-01-12 Continental Automotive Technologies GmbH Relevanztestverfahren für Fahrzeugsysteme
US9292471B2 (en) 2011-02-18 2016-03-22 Honda Motor Co., Ltd. Coordinated vehicle response system and method for driver behavior
US8698639B2 (en) 2011-02-18 2014-04-15 Honda Motor Co., Ltd. System and method for responding to driver behavior
US9751534B2 (en) 2013-03-15 2017-09-05 Honda Motor Co., Ltd. System and method for responding to driver state
US10499856B2 (en) 2013-04-06 2019-12-10 Honda Motor Co., Ltd. System and method for biological signal processing with highly auto-correlated carrier sequences
JP6745087B2 (ja) * 2014-12-04 2020-08-26 日産自動車株式会社 車線維持支援装置及び車線維持支援方法
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JP7074600B2 (ja) * 2018-07-18 2022-05-24 トヨタ自動車株式会社 運転支援装置
WO2020261530A1 (fr) * 2019-06-28 2020-12-30 日産自動車株式会社 Procédé de commande de direction et dispositif de commande de direction

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Cited By (4)

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Publication number Priority date Publication date Assignee Title
EP1602542A1 (fr) * 2004-06-02 2005-12-07 Nissan Motor Co., Ltd. Procédé et dispositif adaptatives pour éstimer l'intention de l'opérateur d'un véhicule automobile
US7555367B2 (en) 2004-06-02 2009-06-30 Nissan Motor Co., Ltd. Adaptive intention estimation method and system
WO2009000619A1 (fr) 2007-06-28 2008-12-31 Robert Bosch Gmbh Procédé pour corriger automatiquement une valeur d'état d'un véhicule
US9221466B2 (en) 2007-06-28 2015-12-29 Robert Bosch Gmbh Method for automatically correcting a state variable of a vehicle

Also Published As

Publication number Publication date
JPH10194151A (ja) 1998-07-28
EP0853031A3 (fr) 2001-01-10
DE69817410T2 (de) 2004-06-24
DE69817410D1 (de) 2003-10-02
JP3983324B2 (ja) 2007-09-26
US6009377A (en) 1999-12-28
EP0853031B1 (fr) 2003-08-27

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